void features_ufb_api(const mxArray *prhs[7], const mxArray *plhs[1])
{
emxArray_real_T *ftvec;
emxArray_real_T *wvec;
emxArray_real_T *ilog;
emxArray_real_T *ftmin;
emxArray_real_T *ftmax;
real_T fbmin;
real_T fbmax;
emlrtStack st = { NULL, NULL, NULL };
st.tls = emlrtRootTLSGlobal;
emlrtHeapReferenceStackEnterFcnR2012b(&st);
b_emxInit_real_T(&st, &ftvec, 2, true);
emxInit_real_T(&st, &wvec, 1, true);
b_emxInit_real_T(&st, &ilog, 2, true);
b_emxInit_real_T(&st, &ftmin, 2, true);
b_emxInit_real_T(&st, &ftmax, 2, true);
prhs[0] = emlrtProtectR2012b(prhs[0], 0, false, -1);
prhs[1] = emlrtProtectR2012b(prhs[1], 1, false, -1);
prhs[2] = emlrtProtectR2012b(prhs[2], 2, false, -1);
prhs[3] = emlrtProtectR2012b(prhs[3], 3, false, -1);
prhs[4] = emlrtProtectR2012b(prhs[4], 4, false, -1);
/* Marshall function inputs */
i_emlrt_marshallIn(&st, emlrtAlias(prhs[0]), "ftvec", ftvec);
emlrt_marshallIn(&st, emlrtAlias(prhs[1]), "wvec", wvec);
i_emlrt_marshallIn(&st, emlrtAlias(prhs[2]), "ilog", ilog);
i_emlrt_marshallIn(&st, emlrtAlias(prhs[3]), "ftmin", ftmin);
i_emlrt_marshallIn(&st, emlrtAlias(prhs[4]), "ftmax", ftmax);
fbmin = g_emlrt_marshallIn(&st, emlrtAliasP(prhs[5]), "fbmin");
fbmax = g_emlrt_marshallIn(&st, emlrtAliasP(prhs[6]), "fbmax");
/* Invoke the target function */
fbmin = features_ufb(ftvec, wvec, ilog, ftmin, ftmax, fbmin, fbmax);
/* Marshall function outputs */
plhs[0] = b_emlrt_marshallOut(fbmin);
ftmax->canFreeData = false;
emxFree_real_T(&ftmax);
ftmin->canFreeData = false;
emxFree_real_T(&ftmin);
ilog->canFreeData = false;
emxFree_real_T(&ilog);
wvec->canFreeData = false;
emxFree_real_T(&wvec);
ftvec->canFreeData = false;
emxFree_real_T(&ftvec);
emlrtHeapReferenceStackLeaveFcnR2012b(&st);
}
void PlotResults_api(const mxArray * const prhs[4])
{
emxArray_real_T *t;
emxArray_real_T *sigIn;
emxArray_real_T *u;
emxArray_real_T *r;
emlrtStack st = { NULL, NULL, NULL };
st.tls = emlrtRootTLSGlobal;
emlrtHeapReferenceStackEnterFcnR2012b(&st);
emxInit_real_T(&st, &t, 2, &ub_emlrtRTEI, true);
emxInit_real_T(&st, &sigIn, 2, &ub_emlrtRTEI, true);
emxInit_real_T(&st, &u, 2, &ub_emlrtRTEI, true);
b_emxInit_real_T(&st, &r, 1, &ub_emlrtRTEI, true);
/* Marshall function inputs */
e_emlrt_marshallIn(&st, emlrtAlias(prhs[0]), "t", t);
e_emlrt_marshallIn(&st, emlrtAlias(prhs[1]), "sigIn", sigIn);
g_emlrt_marshallIn(&st, emlrtAlias(prhs[2]), "u", u);
i_emlrt_marshallIn(&st, emlrtAlias(prhs[3]), "r", r);
/* Invoke the target function */
PlotResults(&st, t, sigIn, u, r);
r->canFreeData = false;
emxFree_real_T(&r);
u->canFreeData = false;
emxFree_real_T(&u);
sigIn->canFreeData = false;
emxFree_real_T(&sigIn);
t->canFreeData = false;
emxFree_real_T(&t);
emlrtHeapReferenceStackLeaveFcnR2012b(&st);
}
void ekf_update_api(const mxArray * const prhs[7], const mxArray *plhs[2])
{
real_T (*x_k_k)[5];
real_T (*P_k_k)[25];
real_T (*x_kk_kk)[5];
real_T (*zm_k)[5];
real_T (*m0)[2];
real_T (*P_kk_kk)[25];
real_T (*Q)[25];
real_T (*R)[36];
real_T dt;
emlrtStack st = { NULL, NULL, NULL };
st.tls = emlrtRootTLSGlobal;
x_k_k = (real_T (*)[5])mxMalloc(sizeof(real_T [5]));
P_k_k = (real_T (*)[25])mxMalloc(sizeof(real_T [25]));
/* Marshall function inputs */
x_kk_kk = c_emlrt_marshallIn(&st, emlrtAlias(prhs[0]), "x_kk_kk");
zm_k = c_emlrt_marshallIn(&st, emlrtAlias(prhs[1]), "zm_k");
m0 = e_emlrt_marshallIn(&st, emlrtAlias(prhs[2]), "m0");
P_kk_kk = g_emlrt_marshallIn(&st, emlrtAlias(prhs[3]), "P_kk_kk");
Q = g_emlrt_marshallIn(&st, emlrtAlias(prhs[4]), "Q");
R = i_emlrt_marshallIn(&st, emlrtAlias(prhs[5]), "R");
dt = k_emlrt_marshallIn(&st, emlrtAliasP(prhs[6]), "dt");
/* Invoke the target function */
ekf_update(&st, *x_kk_kk, *zm_k, *m0, *P_kk_kk, *Q, *R, dt, *x_k_k, *P_k_k);
/* Marshall function outputs */
plhs[0] = c_emlrt_marshallOut(*x_k_k);
plhs[1] = d_emlrt_marshallOut(*P_k_k);
}
static real_T f_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const
emlrtMsgIdentifier *parentId)
{
real_T y;
y = i_emlrt_marshallIn(sp, emlrtAlias(u), parentId);
emlrtDestroyArray(&u);
return y;
}
static void f_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const
emlrtMsgIdentifier *parentId, emxArray_real_T *y)
{
i_emlrt_marshallIn(sp, emlrtAlias(u), parentId, y);
emlrtDestroyArray(&u);
}
/*
* Arguments : const mxArray *prhs[15]
* const mxArray *plhs[7]
* Return Type : void
*/
void clcOptTrj_tmp_api(const mxArray *prhs[15], const mxArray *plhs[7])
{
emxArray_real_T *engKinNumVec_wayInx;
emxArray_real_T *engKinMat_engKinInx_wayInx;
emxArray_real_T *engKinOptVec;
emxArray_real_T *batEngDltOptVec;
emxArray_real_T *fulEngDltOptVec;
emxArray_real_T *staVec;
emxArray_real_T *psiEngKinOptVec;
real_T disFlg;
real_T wayStp;
real_T wayNum;
real_T wayInxBeg;
real_T wayInxEnd;
real_T staEnd;
real_T engKinNum;
real_T engKinEndInxVal;
real_T staNum;
real_T (*optPreInxTn3)[52800];
real_T (*batFrcOptTn3)[52800];
real_T (*fulEngOptTn3)[52800];
real_T (*cos2goActMat)[66];
real_T engKinEndInx;
real_T fulEngOpt;
emlrtStack st = { NULL, NULL, NULL };
st.tls = emlrtRootTLSGlobal;
emlrtHeapReferenceStackEnterFcnR2012b(&st);
emxInit_real_T(&st, &engKinNumVec_wayInx, 1, true);
b_emxInit_real_T(&st, &engKinMat_engKinInx_wayInx, 2, true);
emxInit_real_T(&st, &engKinOptVec, 1, true);
emxInit_real_T(&st, &batEngDltOptVec, 1, true);
emxInit_real_T(&st, &fulEngDltOptVec, 1, true);
emxInit_real_T(&st, &staVec, 1, true);
emxInit_real_T(&st, &psiEngKinOptVec, 1, true);
prhs[9] = emlrtProtectR2012b(prhs[9], 9, false, -1);
prhs[10] = emlrtProtectR2012b(prhs[10], 10, false, -1);
prhs[11] = emlrtProtectR2012b(prhs[11], 11, false, -1);
prhs[12] = emlrtProtectR2012b(prhs[12], 12, false, -1);
prhs[13] = emlrtProtectR2012b(prhs[13], 13, false, -1);
prhs[14] = emlrtProtectR2012b(prhs[14], 14, false, -1);
/* Marshall function inputs */
disFlg = emlrt_marshallIn(&st, emlrtAliasP(prhs[0]), "disFlg");
wayStp = emlrt_marshallIn(&st, emlrtAliasP(prhs[1]), "wayStp");
wayNum = emlrt_marshallIn(&st, emlrtAliasP(prhs[2]), "wayNum");
wayInxBeg = emlrt_marshallIn(&st, emlrtAliasP(prhs[3]), "wayInxBeg");
wayInxEnd = emlrt_marshallIn(&st, emlrtAliasP(prhs[4]), "wayInxEnd");
staEnd = emlrt_marshallIn(&st, emlrtAliasP(prhs[5]), "staEnd");
engKinNum = emlrt_marshallIn(&st, emlrtAliasP(prhs[6]), "engKinNum");
engKinEndInxVal = emlrt_marshallIn(&st, emlrtAliasP(prhs[7]),
"engKinEndInxVal");
staNum = emlrt_marshallIn(&st, emlrtAliasP(prhs[8]), "staNum");
c_emlrt_marshallIn(&st, emlrtAlias(prhs[9]), "engKinNumVec_wayInx",
engKinNumVec_wayInx);
e_emlrt_marshallIn(&st, emlrtAlias(prhs[10]), "engKinMat_engKinInx_wayInx",
engKinMat_engKinInx_wayInx);
optPreInxTn3 = g_emlrt_marshallIn(&st, emlrtAlias(prhs[11]), "optPreInxTn3");
batFrcOptTn3 = g_emlrt_marshallIn(&st, emlrtAlias(prhs[12]), "batFrcOptTn3");
fulEngOptTn3 = g_emlrt_marshallIn(&st, emlrtAlias(prhs[13]), "fulEngOptTn3");
cos2goActMat = i_emlrt_marshallIn(&st, emlrtAlias(prhs[14]), "cos2goActMat");
/* Invoke the target function */
clcOptTrj_tmp(disFlg, wayStp, wayNum, wayInxBeg, wayInxEnd, staEnd, engKinNum,
engKinEndInxVal, staNum, engKinNumVec_wayInx,
engKinMat_engKinInx_wayInx, *optPreInxTn3, *batFrcOptTn3,
*fulEngOptTn3, *cos2goActMat, engKinOptVec, batEngDltOptVec,
fulEngDltOptVec, staVec, psiEngKinOptVec, &fulEngOpt,
&engKinEndInx);
/* Marshall function outputs */
plhs[0] = emlrt_marshallOut(engKinOptVec);
plhs[1] = emlrt_marshallOut(batEngDltOptVec);
plhs[2] = emlrt_marshallOut(fulEngDltOptVec);
plhs[3] = emlrt_marshallOut(staVec);
plhs[4] = emlrt_marshallOut(psiEngKinOptVec);
plhs[5] = b_emlrt_marshallOut(fulEngOpt);
plhs[6] = b_emlrt_marshallOut(engKinEndInx);
psiEngKinOptVec->canFreeData = false;
emxFree_real_T(&psiEngKinOptVec);
staVec->canFreeData = false;
emxFree_real_T(&staVec);
fulEngDltOptVec->canFreeData = false;
emxFree_real_T(&fulEngDltOptVec);
batEngDltOptVec->canFreeData = false;
emxFree_real_T(&batEngDltOptVec);
engKinOptVec->canFreeData = false;
emxFree_real_T(&engKinOptVec);
engKinMat_engKinInx_wayInx->canFreeData = false;
emxFree_real_T(&engKinMat_engKinInx_wayInx);
engKinNumVec_wayInx->canFreeData = false;
emxFree_real_T(&engKinNumVec_wayInx);
emlrtHeapReferenceStackLeaveFcnR2012b(&st);
}
/*
* Arguments : const emlrtStack *sp
* const mxArray *u
* const emlrtMsgIdentifier *parentId
* struct0_T *y
* Return Type : void
*/
static void h_emlrt_marshallIn(const emlrtStack *sp, const mxArray *u, const
emlrtMsgIdentifier *parentId, struct0_T *y)
{
emlrtMsgIdentifier thisId;
static const char * fieldNames[32] = { "vehVelMin", "vehVelMax", "vehAccMax",
"vehAccMin", "drgCof", "vehMas", "whlRolResCof", "whlDrr", "batRstChr",
"batRstDch", "batOcvCof_batEng", "batEngMax", "batPwrMax", "batPwrMin",
"geaRat", "geaEfy", "iceSpdMgd", "iceTrqMgd", "fulDen", "fulLhv",
"iceFulPwr_iceSpd_iceTrq", "iceTrqMaxCof", "iceTrqMinCof", "emoSpdMgd",
"emoTrqMgd", "emoPwr_emoSpd_emoTrq", "emoTrqMin_emoSpd", "emoTrqMax_emoSpd",
"emoPwrMgd", "emoTrq_emoSpd_emoPwr", "emoPwrMax_emoSpd", "emoPwrMin_emoSpd"
};
thisId.fParent = parentId;
emlrtCheckStructR2012b(sp, parentId, u, 32, fieldNames, 0U, 0);
thisId.fIdentifier = "vehVelMin";
y->vehVelMin = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"vehVelMin")), &thisId);
thisId.fIdentifier = "vehVelMax";
y->vehVelMax = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"vehVelMax")), &thisId);
thisId.fIdentifier = "vehAccMax";
y->vehAccMax = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"vehAccMax")), &thisId);
thisId.fIdentifier = "vehAccMin";
y->vehAccMin = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"vehAccMin")), &thisId);
thisId.fIdentifier = "drgCof";
y->drgCof = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"drgCof")), &thisId);
thisId.fIdentifier = "vehMas";
y->vehMas = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"vehMas")), &thisId);
thisId.fIdentifier = "whlRolResCof";
y->whlRolResCof = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u,
0, "whlRolResCof")), &thisId);
thisId.fIdentifier = "whlDrr";
y->whlDrr = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"whlDrr")), &thisId);
thisId.fIdentifier = "batRstChr";
y->batRstChr = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batRstChr")), &thisId);
thisId.fIdentifier = "batRstDch";
y->batRstDch = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batRstDch")), &thisId);
thisId.fIdentifier = "batOcvCof_batEng";
i_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batOcvCof_batEng")), &thisId, y->batOcvCof_batEng);
thisId.fIdentifier = "batEngMax";
y->batEngMax = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batEngMax")), &thisId);
thisId.fIdentifier = "batPwrMax";
y->batPwrMax = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batPwrMax")), &thisId);
thisId.fIdentifier = "batPwrMin";
y->batPwrMin = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"batPwrMin")), &thisId);
thisId.fIdentifier = "geaRat";
j_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "geaRat")),
&thisId, y->geaRat);
thisId.fIdentifier = "geaEfy";
y->geaEfy = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"geaEfy")), &thisId);
thisId.fIdentifier = "iceSpdMgd";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "iceSpdMgd")),
&thisId, y->iceSpdMgd);
thisId.fIdentifier = "iceTrqMgd";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "iceTrqMgd")),
&thisId, y->iceTrqMgd);
thisId.fIdentifier = "fulDen";
y->fulDen = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"fulDen")), &thisId);
thisId.fIdentifier = "fulLhv";
y->fulLhv = b_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"fulLhv")), &thisId);
thisId.fIdentifier = "iceFulPwr_iceSpd_iceTrq";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"iceFulPwr_iceSpd_iceTrq")), &thisId, y->iceFulPwr_iceSpd_iceTrq);
thisId.fIdentifier = "iceTrqMaxCof";
l_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "iceTrqMaxCof")),
&thisId, y->iceTrqMaxCof);
thisId.fIdentifier = "iceTrqMinCof";
l_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "iceTrqMinCof")),
&thisId, y->iceTrqMinCof);
thisId.fIdentifier = "emoSpdMgd";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "emoSpdMgd")),
&thisId, y->emoSpdMgd);
thisId.fIdentifier = "emoTrqMgd";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "emoTrqMgd")),
&thisId, y->emoTrqMgd);
thisId.fIdentifier = "emoPwr_emoSpd_emoTrq";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoPwr_emoSpd_emoTrq")), &thisId, y->emoPwr_emoSpd_emoTrq);
thisId.fIdentifier = "emoTrqMin_emoSpd";
m_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoTrqMin_emoSpd")), &thisId, y->emoTrqMin_emoSpd);
thisId.fIdentifier = "emoTrqMax_emoSpd";
m_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoTrqMax_emoSpd")), &thisId, y->emoTrqMax_emoSpd);
thisId.fIdentifier = "emoPwrMgd";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0, "emoPwrMgd")),
&thisId, y->emoPwrMgd);
thisId.fIdentifier = "emoTrq_emoSpd_emoPwr";
k_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoTrq_emoSpd_emoPwr")), &thisId, y->emoTrq_emoSpd_emoPwr);
thisId.fIdentifier = "emoPwrMax_emoSpd";
m_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoPwrMax_emoSpd")), &thisId, y->emoPwrMax_emoSpd);
thisId.fIdentifier = "emoPwrMin_emoSpd";
m_emlrt_marshallIn(sp, emlrtAlias(emlrtGetFieldR2013a(sp, u, 0,
"emoPwrMin_emoSpd")), &thisId, y->emoPwrMin_emoSpd);
emlrtDestroyArray(&u);
}
